Legal claims defining the scope of protection. Each claim is shown in both the original legal language and a plain English translation.
1. A collision preventing control device comprising: an object information obtaining unit for obtaining object information including position information indicative of a position of each of feature points in relation to an own vehicle, the position being specified by a distance between each of the feature points and the own vehicle and a direction of each of the feature points in relation to the own vehicle; an obstacle point selecting unit for selecting one of the feature points that has probability of colliding with the own vehicle, as an obstacle point; a collision time period calculating unit for calculating a collision time period for which it takes for each of the obstacle points to collide with the own vehicle or for which it takes for each of the obstacle points to most closely approach the own vehicle, based on the relative velocity of each of the obstacle points in relation to the own vehicle and the distance between each of the obstacle points and the own vehicle; a collision preventing control unit for determining that a specific condition is established when a minimum collision time period among the calculated collision time periods is equal to or shorter than a threshold time period, and for starting to perform a collision preventing control to prevent the own vehicle from colliding with an obstacle including the obstacle point having the minimum collision time period when it is determined that the specific condition is established; a continuous structure determining unit configured to: select, as one of pairs of continuous points, one of pairs of the feature points that satisfies a predetermined continuous point condition among the feature points located in a side of a traveling direction of the own vehicle from the obstacle point having the minimum collision time period, based on the object information; determine, as a continuous structure, an obstacle including the continuous points as components, when a total of a distance between each of the selected pairs of the continuous points is longer than a first threshold distance; and select, as one of pairs of continuous points which are the components included in the continuous structure, one of pairs of the feature points that satisfies the continuous point condition among the feature points located in a side of a direction opposite to the traveling direction of the own vehicle from the obstacle point having the minimum collision time period; an angle calculating unit for calculating, based on positions of the continuous points included in the continuous structure in relation to the own vehicle, an approximate line of the continuous structure when the obstacle is determined to be the continuous structure, and for calculating, as a continuous structure angle, an angle of the continuous structure in relation to the own vehicle based on the calculated approximate line; an updating unit for updating a calculation number corresponding to an angle range within which a magnitude of the calculated continuous structure angle falls among a plurality of angle ranges, each having a predetermined angle, when the continuous structure angle is calculated; and a control unit for prohibiting the collision preventing control unit from performing the collision preventing control when there is no angle range whose calculation number is larger than the threshold number, or for changing the minimum collision time period or the threshold time period such that the specific condition becomes more difficult to be established when there is no angle range whose calculation number is larger than the threshold number than when there is any angle range whose calculation number is larger than the threshold number.
Vehicular collision avoidance systems. This invention addresses the problem of preventing collisions by an own vehicle with other objects. The system obtains object information including the precise position of feature points relative to the own vehicle, defined by distance and direction. It identifies feature points likely to collide with the own vehicle as obstacle points. For these obstacle points, a collision time period is calculated, representing the time until collision or closest approach, based on relative velocity and distance. A collision preventing control unit initiates collision avoidance maneuvers when the minimum calculated collision time period falls below a threshold, indicating an imminent collision. A continuous structure determining unit further analyzes the environment. It identifies pairs of feature points on either side of the obstacle point with the minimum collision time period, that satisfy a continuous point condition. If the total distance between these pairs exceeds a first threshold, these points are classified as a continuous structure. An angle calculating unit then determines an approximate line and angle of this continuous structure relative to the own vehicle. An updating unit tracks the frequency of calculated continuous structure angles falling within specific angle ranges. Finally, a control unit uses this angle information to refine collision prevention. If no angle range has been frequently observed, it may prevent the collision preventing control from activating or adjust parameters to make collision avoidance less likely to be triggered. Conversely, if an angle range is frequently observed, it implies a more predictable obstacle, potentially allowing for more aggressive or less sensitive collision prevention.
2. The collision preventing control device according to claim 1 , wherein the control unit is configured to: set the threshold time period to a predetermined first threshold time period when there is any angle range whose calculation number is larger than the threshold number; and set the threshold time period to a predetermined second threshold time period that is shorter than the first threshold time period such that the specific condition becomes more difficult to be established, when there is no angle range whose calculation number is larger than the threshold number.
This invention relates to a collision preventing control device for vehicles, specifically addressing the challenge of optimizing collision avoidance based on environmental conditions. The device includes a control unit that monitors angle ranges around the vehicle and adjusts a threshold time period for collision prevention based on the frequency of calculations within those angle ranges. When the control unit detects that any angle range has a calculation number exceeding a predefined threshold, it sets the threshold time period to a longer first duration, allowing more time for collision avoidance actions. Conversely, if no angle range exceeds the threshold, the control unit shortens the threshold time period to a second, shorter duration, making it harder for the collision prevention condition to be triggered. This dynamic adjustment improves responsiveness in high-risk scenarios while reducing unnecessary interventions in safer conditions. The device also includes a calculation unit that processes sensor data to determine the presence of objects within the monitored angle ranges, ensuring accurate and timely collision prevention. The overall system enhances vehicle safety by adaptively responding to varying environmental risks.
3. The collision preventing control device according to claim 1 , wherein the control unit is configured to change, when there is no angle range whose calculation number is larger than the threshold number, the minimum collision time period such that the minimum collision time period becomes larger so that the specific condition becomes more difficult to be established than when there is any angle range whose calculation number is larger than the threshold number.
This invention relates to collision prevention systems for vehicles, specifically addressing the challenge of avoiding collisions by dynamically adjusting collision detection parameters based on environmental conditions. The system includes a control unit that monitors potential collision scenarios by calculating collision probabilities across different angular ranges. If no angular range exceeds a predefined threshold for collision likelihood, the control unit increases the minimum collision time period, making it harder for the system to detect an imminent collision. This adjustment reduces false positives in low-risk scenarios while maintaining safety in high-risk situations. The system dynamically adapts to varying driving conditions, improving reliability by preventing unnecessary collision alerts when the risk is low. The core innovation lies in the adaptive thresholding mechanism, which balances sensitivity and specificity in collision detection to enhance both safety and user experience.
4. The collision preventing control device according to claim 1 , wherein, the angle calculating unit is configured to calculate the approximate line and the continuous structure angle, every time a predetermined time period elapses, and the updating unit is configured to initialize each of the calculation number corresponding to each of the angle ranges other than the angle range within which the magnitude of the continuous structure angle calculated at a first time point when the approximate line is newly calculated falls, and to set the calculation number corresponding to the angle range within which the magnitude of the continuous structure angle calculated at the first time point falls to “1”, when a direction of the approximate line newly calculated at the first time point in relation to a longitudinal direction of the own vehicle is different from a direction of the approximate line calculated at a second time point which is the predetermined time period before the first time point in relation to the direction of the longitudinal direction of the own vehicle.
This invention relates to a collision prevention control device for vehicles, specifically addressing the challenge of accurately detecting and avoiding collisions with continuous structures such as guardrails or walls. The device calculates an approximate line representing the continuous structure and determines a continuous structure angle relative to the vehicle's longitudinal direction. To improve detection accuracy, the device periodically recalculates the approximate line and the continuous structure angle at predetermined intervals. When the direction of the newly calculated approximate line differs from the previous calculation, the device initializes calculation numbers for all angle ranges except the one containing the newly calculated angle, which is set to "1." This ensures that only relevant angle data is retained, reducing false positives and improving collision avoidance reliability. The system dynamically updates angle range data to adapt to changing road conditions, enhancing the vehicle's ability to distinguish between stationary obstacles and other road features. This approach optimizes collision detection by focusing on the most recent and relevant angle measurements while discarding outdated or irrelevant data.
5. The collision preventing control device according to claim 1 , wherein, the continuous structure determining unit is configured to: select the obstacle point having the minimum collision time period as a base point; and execute a traveling direction selecting process for: selecting, as a processing point, the feature point which is closest to the base point in the side of the traveling direction of the own vehicle; determining that a pair of the base point and the processing point satisfies the continuous point condition when a difference between a distance from the base point to the own vehicle and a distance from the processing point to the own vehicle falls within a predetermined range, and a distance from the base point to the processing point is shorter than a second threshold distance; and selecting the base point and the processing point as the pair of the continuous points when it is determined that the pair of the base point and the processing point satisfies the continuous point condition; execute, when the total of the distance between each of the pairs of the continuous points is equal to or shorter than the first threshold distance, the traveling direction selecting process again after selecting, as a new base point, the processing point that has been selected as the continuous point; determine the obstacle as the continuous structure and select the obstacle point having the minimum collision time period as the base point, when the total of the distance between each of the pairs of the continuous points is longer than the first threshold distance; and execute, after selecting the base point, an opposite direction selecting process for: selecting, as the processing point, the feature point that is closest to the base point in the side of the direction opposite to the traveling direction of the own vehicle; and selecting the base point and the processing point as the pair of the continuous points, when a pair of the base point and the processing point satisfies the continuous point condition.
This invention relates to a collision prevention control device for vehicles, specifically addressing the challenge of accurately detecting and responding to obstacles in the vehicle's path. The device includes a continuous structure determining unit that identifies obstacles as continuous structures to improve collision prediction and avoidance. The unit selects an obstacle point with the minimum collision time period as a base point and performs a traveling direction selecting process. This process involves selecting the feature point closest to the base point in the vehicle's traveling direction as a processing point. The unit then checks if the pair of the base point and processing point meets a continuous point condition, which requires that the difference between their distances to the vehicle falls within a predetermined range and that the distance between them is shorter than a second threshold distance. If the condition is satisfied, the points are selected as continuous points. If the total distance between all pairs of continuous points exceeds a first threshold distance, the unit repeats the traveling direction selecting process using the processing point as a new base point. If the total distance remains above the first threshold, the obstacle is deemed a continuous structure, and the base point is used to initiate an opposite direction selecting process. This process selects the closest feature point in the opposite direction of travel as the processing point and checks if the pair meets the continuous point condition, selecting them as continuous points if confirmed. This method enhances obstacle detection accuracy and collision prevention by dynamically analyzing obstacle structures in both travel directions.
6. The collision preventing control device according to claim 5 , wherein, the continuous structure determining unit is configured to: in executing the traveling direction selecting process, select, as a new processing point, the feature point which is closest to the base point among the feature points in the side of the traveling direction of the own vehicle except the feature point which has been selected as the processing point, when the pair of the base point and the processing point does not satisfy the continuous point condition, and determine whether or not a pair of the base point and the new processing point satisfies the continuous point condition; and determine that the obstacle including the obstacle point having the minimum collision time period is not the continuous structure when there is no pair of the base point and the processing point that satisfies the continuous point condition by a time point when the new processing point is selected a predetermined number of times or more.
This invention relates to collision prevention systems for vehicles, specifically improving obstacle detection and avoidance by determining whether obstacles form a continuous structure. The problem addressed is accurately identifying whether multiple detected obstacle points belong to a single continuous structure (e.g., a wall or barrier) versus separate obstacles, which is critical for safe autonomous navigation. The system includes a continuous structure determining unit that evaluates obstacle points to assess if they form a continuous structure. During operation, the unit selects a base point (a reference obstacle point) and a processing point (another obstacle point) to check if they meet a "continuous point condition," which likely involves spatial or temporal proximity criteria. If the pair does not satisfy the condition, the unit selects a new processing point—the closest feature point in the vehicle's travel direction, excluding already processed points. This selection repeats until either a valid pair is found or the new processing point is selected a predetermined number of times without success. If no valid pair is found after these attempts, the system concludes that the obstacle (including the point with the shortest collision time) is not part of a continuous structure, allowing the vehicle to adjust its path accordingly. This method enhances collision avoidance by distinguishing between continuous barriers and isolated obstacles, improving decision-making in dynamic environments.
7. The collision preventing control device according to claim 6 , wherein, the continuous structure determining unit is configured to: in executing the opposite direction selecting process, select, as a new processing point, the feature point which is closest to the base point among the feature points in the side of the direction opposite to the traveling direction of the own vehicle except the feature point which has been selected as the processing point, when the pair of the base point and the processing point does not satisfy the continuous point condition, and determine whether or not a pair of the base point and the new processing point satisfies the continuous point condition; and recognize, as the components of the continuous structure, the at least one pair of the continuous points which has been selected when there is no pair of the base point and the processing point that satisfies the continuous point condition by a time point when the new processing point is selected a predetermined number of times or more.
This invention relates to a collision prevention control device for vehicles, specifically addressing the challenge of accurately identifying continuous structures in the environment to avoid collisions. The device includes a continuous structure determining unit that processes feature points detected around the vehicle to determine whether they form a continuous structure, such as a road boundary or obstacle. The unit selects a base point and a processing point from the detected feature points and checks if they meet a continuous point condition, which likely involves spatial or geometric criteria to ensure they are part of the same structure. If the initial pair does not satisfy the condition, the unit selects a new processing point closest to the base point in the direction opposite to the vehicle's travel, excluding previously selected points. This process repeats until either a valid pair is found or the new processing point is selected a predetermined number of times. If no valid pair is found after this threshold, the unit recognizes the previously selected continuous points as components of the continuous structure. This method ensures robust detection of environmental features to support collision avoidance systems.
8. The collision preventing control device according to claim 5 , wherein, the continuous structure determining unit is configured to: in executing at least one of the traveling direction selecting process and the opposite direction selecting process, calculate a continuous points approximate line through the continuous points which have been selected, the base point and the processing point, based on locations of the continuous points which has been selected in relation to the own vehicle, a location of the base point in relation to the own vehicle, and a location of the processing point in relation to the own vehicle, when the distance from the base point to the processing point is longer than or equal to the second threshold distance; calculate, as a continuous points angle, an angle of the calculated continuous points approximate line in relation to the own vehicle; refer to interpolation distance information which defines a relationship among velocity of the own vehicle, the continuous points angle, and an interpolation distance between an intersection point at which a left side of the own vehicle intersects with a virtual line having the continuous points angle and an intersection point at which a right side of the own vehicle intersects with the virtual line under an assumption that the own vehicle is turning at the velocity and at a predetermined emergency preventing yaw rate, so as to calculate the interpolation distance corresponding to a present velocity of the own vehicle and the calculated continuous points angle; and select the base point and the processing point as the pair of the continuous points when the distance from the base point to the processing point is equal to or shorter than the interpolation distance and the difference between the distance from the base point to the own vehicle and the distance from the processing point to the own vehicle falls within the predetermined range.
This invention relates to a collision prevention control device for vehicles, specifically addressing the challenge of accurately determining continuous structures in the vehicle's path to avoid collisions. The device includes a continuous structure determining unit that processes data from sensors to identify and analyze potential obstacles or road features. During the traveling direction selection or opposite direction selection processes, the unit calculates an approximate line through selected continuous points, a base point, and a processing point, using their relative locations to the vehicle. If the distance between the base point and processing point meets or exceeds a second threshold distance, the unit computes a continuous points angle based on the approximate line's orientation relative to the vehicle. The device then refers to interpolation distance information, which correlates vehicle velocity, continuous points angle, and interpolation distance, to determine the appropriate interpolation distance for the current vehicle speed and angle. The base and processing points are selected as a continuous point pair if their distance is within the interpolation distance and their relative distances to the vehicle fall within a predetermined range. This ensures accurate detection of continuous structures, improving collision prevention by dynamically adjusting to vehicle speed and obstacle geometry.
9. The collision preventing control device according to claim 1 , wherein, the object information obtaining unit is configured to: photograph a surround area around the own vehicle using two camera sensors; and calculate the distance between each of the feature points and the own vehicle and the directions of each of the feature points in relation to the own vehicle, using a parallax between the feature point of the object in one camera image photographed by one camera sensor and that feature point of that object in another camera image photographed by another camera sensor, the object information includes a continuous structure probability that the feature point becomes to be the component of the continuous structure, the continuous structure probability being calculated based on the camera images for a predetermined area including that feature point; the continuous structure determining unit is configured to: determine whether or not the continuous points include the feature point whose continuous structure probability is equal to or smaller than a predetermined threshold probability when the total of the distance between each of the pairs of the continuous points is longer than or equal to the first threshold distance; calculate a continuous points approximate line of the continuous points which have been selected based on locations of the continuous points which have been selected in relation to the own vehicle, when the continuous points include the feature point whose continuous structure probability is equal to or smaller than the threshold probability; calculate an angle of the calculated continuous points approximate line in relation to the own vehicle, as a continuous points angle; refer to interpolation distance information which defines a relationship among velocity of the own vehicle, the continuous points angle, and an interpolation distance which is a distance between an intersection point at which a left side of the own vehicle intersects with a virtual line having the continuous points angle and an intersection point at which a right side of the own vehicle intersects with the virtual line under an assumption that the own vehicle is turning at the velocity and at a predetermined emergency preventing yaw rate, so as to calculate the interpolation distance corresponding to a present velocity of the own vehicle and the calculated continuous points angle; and recognize, as the component of the continuous structure, the feature point whose continuous structure probability is equal to or smaller than the threshold probability, when a distance between confidence points is equal to or shorter than the interpolation distance, the distance between confidence points representing a distance between a first continuous point which is closest to the feature point whose the continuous structure probability is equal to or smaller than the threshold probability in the traveling direction of the own vehicle and whose the continuous structure probability is larger than the threshold probability and a second continuous point which is closest to the feature point whose the continuous structure probability is equal to or smaller than the threshold probability in the opposite direction of the own vehicle and whose the continuous structure probability is larger than the threshold probability, so as to determine that the obstacle including the obstacle point having the minimum collision time period is the continuous structure.
This invention relates to a collision prevention system for vehicles that uses stereo camera sensors to detect and analyze obstacles in the vehicle's surroundings. The system captures images of the area around the vehicle using two camera sensors and calculates the distance and direction of feature points (distinct points on objects) relative to the vehicle by analyzing the parallax between the same feature points in both camera images. The system assigns a continuous structure probability to each feature point, indicating the likelihood that the point is part of a continuous structure (e.g., a road barrier or guardrail) based on the surrounding image data. The system determines whether a group of feature points (continuous points) forms a continuous structure by checking if the total distance between adjacent points exceeds a predefined threshold. If the structure includes points with low continuous structure probability, the system approximates a line through the high-probability points and calculates its angle relative to the vehicle. Using interpolation distance information (which relates vehicle speed, turning angle, and the distance between the vehicle's left and right sides intersecting a virtual line at the calculated angle), the system determines whether low-probability points should be included in the continuous structure. If the distance between the nearest high-probability points on either side of a low-probability point is within the interpolation distance, the low-probability point is recognized as part of the structure. This helps accurately identify obstacles, such as guardrails, to prevent collisions during emergency maneuvers.
10. The collision preventing control device according to claim 1 , further comprising; a vehicle status information obtaining unit for obtaining vehicle status information including a yaw rate and velocity of the own vehicle; a traveling lane predicting unit for predicting, based on the vehicle status information, a traveling lane of a center point in a width direction of the own vehicle, and wherein the obstacle point selecting unit is configured to select one of the feature points that has probability of colliding with the own vehicle as the obstacle point, based on a relative traveling direction of the feature points in relation to the own vehicle and the traveling lane.
This invention relates to a collision prevention control device for vehicles, specifically addressing the challenge of accurately predicting and avoiding collisions with obstacles in the vehicle's path. The device includes a vehicle status information obtaining unit that collects data such as the vehicle's yaw rate and velocity. This data is used by a traveling lane predicting unit to forecast the vehicle's future trajectory, particularly the path of the vehicle's center point in the width direction. The system also includes an obstacle point selecting unit that identifies potential collision points among detected feature points by evaluating their relative traveling direction in relation to the vehicle and the predicted traveling lane. By analyzing these factors, the device determines which obstacles are most likely to collide with the vehicle, enabling timely avoidance measures. The integration of vehicle dynamics and obstacle tracking enhances collision prediction accuracy, reducing false positives and improving safety. This approach is particularly useful in autonomous driving and advanced driver-assistance systems where precise obstacle assessment is critical.
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September 15, 2020
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